Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application
Yuquan Wang, Christian Smith, Yiannis Karayiannidis, Petter Ögren
Abstract
In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators, instead of using the two manipulators kinematics directly. With this VKC, we formulate a constraint based programming solution for the robot to respond to external disturbances during task execution. The proposed approach is experimentally verified both in a noise-free illustrative simulation and a real human robot co-manipulation task.
BibTeX
@inproceedings{iros2015_cooperativecontr,
title = {Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application},
author = {Yuquan Wang and Christian Smith and Yiannis Karayiannidis and Petter Ögren},
booktitle = {IROS 2015},
year = {2015}
}